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В статье приведены основные сведения о элементах, которые будут использованы при построении шагового электропривода для фрезерного станка , состоящая из трех основных механизмов , обеспечивающих пространственное перемещение инструмента в процессе резания . Приведено описание о гибридном шаговом электродвигателе, который по своим регулировочным свойствам наиболее удовлетворяет всем требованиям достижения точности обработки деталей на фрезерного станка. Рассмотрены два варианта построения схем шаговых электроприводов., The article provides basic information about the elements that will be used in the construction of a stepper drive for a 3-D milling machine , consisting of three main mechanisms that ensure the spatial movement of the tool during the cutting process . A description is given of a hybrid stepper motor , which , in terms of its adjusting properties , most satisfies all the requirements for achieving the accuracy of processing parts on a 3-D milling machine . Two options for constructing electric drive circuits are considered ., Макалада кесүү процессинде инструменттин мейкиндикте жылышын камсыз кылуучу үч негизги механикадан турган фрезердик 3-D станоктун кыры үчүн тепкичтүү электр жетегин курууда колдонула турган элементтер жөнүндө негизги маалыматтар келтирилген. Гибриддик кадам электр кыймылдаткычы жөнүндө сүрөттөмө, ал өзүнүн жөндөө касиеттери боюнча фрезердик 3-D станокто тетиктерди иштетүүнүн тактыгына жетишүүнүн бардык талаптарын канааттандырат. Кадамдык электр кыймылдаткычтардын схемасын түзүүнүн эки түрү каралды., Вестник Кыргызcкого национального аграрного университета, Выпуск 1 (64) 2023, Pages 161-167

U završnom radu opisan je način i princip rada koračnih motora, opisana su svojstva, načini rada i podjele koračnih motora i kao što sam naslov rada govori upravljanje i napajanje koračnih motora. Spominju se režimi rada motora i najčešće primjene pojedine vrste koračnih motora. Kod svake vrste koračnog motora dane su prednosti ali i nedostatci takvog motora. Uspoređeni su koračni motori međusobno ali i usporedba je napravljena u odnosu na druge vrste elektromotora. Na početku je opsiano svojstvo koračnih motora na razlišitim osnovama, te prednosti i nedostatci. Za reluktantne, permanentnomagnetske, hibridne koračne motore opisan je njihov princip rada. Na kraju su nevedeni prednosti i nedostaci. Kod svake podjele dan je i slikovni prikaz bio to izgled motora ili unutrašnjost motora, to jest njegov radni mehanizam. Opisane su i opcije napajanja i vrste upravljanja. The paper describes the mode and principle of operation of stepper motors, describes the properties, modes of operation and division of stepper motors and as the title of the paper says the management and power supply of stepper motors. The modes of operation of the motor and the most common applications of certain types of stepper motors are mentioned. With each type 46 of stepper motor, there are advantages but also disadvantages of such a motor. Stepper motors were compared with each other, but a comparison was made in relation to other types of electric motors. At the beginning, the property of stepper motors on various bases, as well as the advantages and disadvantages are described. For reluctant, permanent magnetic, hybrid stepper motors, their operating principle is described. In the end, there are some advantages and disadvantages. In each division, a pictorial representation was given, be it the appearance of the engine or the interior of the engine, that is, its working mechanism. Power options and control types are also described.

Extended Kalman Filters (EKFs), Phase Locked Loops (PLLs), and Stator Flux Observers (SFOs) are widely used for sensorless control of Permanent Magnet Synchronous Motors (PMSMs) drives. Their use (in their most advanced version) is here extended, on the basis of model analogies and suitably-guaranteed closed loop stability properties, to the sensorless speed regulation control of Hybrid Stepper Motors (HSMs), in which position and speed sensors are not employed to reduce costs and increase robustness with respect to high temperature and high-vibration environments. Both realistic simulations and experimental results demonstrate the feasibility of the proposed methods in terms of closed-loop performance and robustness to parameters mismatch.

Рассмотрен вариант реализации системы высокоточного следящего электропривода на основе гибридного шагового двигателя. Предложен алгоритм управления гибридным шаговым двигателем, позволяющий минимизировать резонансные явления в силовой системе привода. Разработана структура векторного регулятора момента гибридного шагового двигателя с использованием алгоритма наблюдения величины скорости и угла поворота.

Рассмотрены особенности применения шагового электродвигателя гибридного типа при реализации электрического привода наведения и стабилизации, определяемые наличием резонансных явлений в его силовой системе. Представлен алгоритм управления исполнительным двигателем, позволяющий исключить соответствующие резонансные явления. Разработан векторный регулятор момента шагового двигателя с использованием алгоритма наблюдения скорости и угла поворота, позволяющий реализовать заданные требования по точности.

In a professional printer, the paper handling system consists of numerous independently driven actuators that manage the placement of the printing media during the entire print job. This research presents a state estimation procedure for closed-loop operation of hybrid stepper motors (HSMs) that are typically used as actuators under a wide range of operational speeds. The presented method facilitates closed-loop control of HSMs without any additional sensor.

V diplomskem delu smo se posvetili analizi koračnih motorjev, še posebej hibridnih koračnih motorjev. Najprej smo si ogledali zgradbo ter osnovne lastnosti hibridnih koračnih motorjev. Nato smo na podlagi fizikalnih zakonitosti izpeljali sistem diferencialnih enačb, ki predstavlja osnovo modela koračnega motorja. Model koračnega motorja smo realizirali v programskem okolju Matlab. Preden smo model lahko začeli uporabljati, smo morali na izbranem koračnem motorju izmeriti določene parametre, kot sta koeficient viskoznega trenja in napetostna konstanta koračnega motorja. Na modelu smo izvajali različne eksperimente in rezultate simulacije primerjali z rezultati meritev na realnem motorju. Še posebej nas je zanimalo, kako dobro se bo ujemala momentno-hitrostna karakteristika modela in realnega motorja, saj nas v praksi pogosto zanima, kakšno breme bo lahko motor pri neki hitrosti vrtenja poganjal. Pri verifikaciji modela smo si pomagali tudi z modelom koračnega motorja iz Simulinkove knjižnice. Z rezultati simulacije smo kar zadovoljni, saj so pokazali, da model dobro opiše osnovno delovanje koračnega motorja, torej gibanje po korakih, potek toka v navitjih koračnega motorja, spreminjanje kotne hitrosti in navora med gibanjem motorja. Uspelo nam je simulirati tudi momentno-hitrostno karakteristiko motorja. Sama oblika karakteristike se ujema s teorijo, to se pravi pri nižjih hitrostih imamo resonančno območje, nato navor naraste in pri višjih obratih spet pade. Simulirano karakteristiko primerjamo tudi z izmerjeno karakteristiko realnega motorja, ampak se na žalost izmerjena karakteristika ne ujema najbolje s simulirano. Kljub vsemu menimo, da bi bil naš model uporaben za simulacijo večjih sistemov, ki za pogon uporabljajo hibridni koračni motor. In this thesis we analyzed stepper motors with emphasys on hybrid stepper motors. First we examined basic structure and basic properties of stepper motors. Then we analyzed basic dynamic properties of stepper motor and built a mathematical model of hybrid stepper motor. Before using the model to simulate our stepper motor, we had to experimentally determine some of its parameters, i.e. the viscous damping coefficient and the torque constant of our stepper motor. Using our model, we conducted different experiments and then compared the results of our experiments with the results of measurements. Especially we were interested in Pull–out torque characteristic, because it tells us how big of a load the stepper motor can drive at certain speed. Results of our simulation have shown, that our model works and reacts as a stepper motor should. With simulation we also acquired torque – speed characteristic. The shape of simulated characteristics is in accordance with theory, at low speed we have two ressonance frequencies, the torque then rises with motor speed and at some point starts to fall again. We compare our simulated characteristics with measured characteristics of a real stepper motor, but unfortunately simulated characteristics doesnt match measured characteristics. In the end we are very pleased with our stepper motor model and we will certainly use it for a simulation of a bigger more complex system that uses stepper motor for porpultion.

The present project pretends to show the basic operation by which the electrical machines are governed and specifically to make an exhaustive analysis and design of a hybrid stepper motor. This motor will be of low power. Magnetic, electrical and thermal calculations will be shown for its design. They explain your control and the different techniques of your control. The project will consist of a theoretical memory, the calculation and design of the motor, the analysis of the calculations, the control, the plans of this motor and the budget.

The term motor should be understood as the converter of an electrical energy into a mechanical energy. The stepper motor converts electrical signals in form of impulses, for the angle of rotation. The relationship is proportional, so that the stepper motor rotation speed is dependent on the frequency of the control impulses. The research concerns developed prototype of glue distributing machine. Its task is to glue coating parts and seats used in machines and mass transit vehicles. Parts to be bonded are characterized by great variety and complicated geometry. Due to the high requirements for constant quality of applied adhesive layer and the shortest possible operation time, it is necessary to apply specialized propulsion and control system. The article presents the results of research regarding the identification of torque characteristics in a function of rotational speed of the stepper motor. In addition, torque variations for different values of the supply current of motor coils where determined. Actual characteristics of stepper motor were necessary due to the frequency increase selection method applied in the project. This will enable the accurate control of the stepper motor.

Development of digital electronics and microcontroller systems has led to development of electrical motors capable to tee digitally controlled. These motors are widely known as stepper motors and the enable transformation of pulsed electrical excitation into mechanical energy. Matlab/Simulink is used as a simulation tool for bipolar stepper motor enabling motor transient characteristics of current, voltage, torque and speed to be obtained. Different operating motor regimes are simulated as no-load and rated load operation. Te obtained results are in good accordance with the theoretical expectation and with the results of analytical computations. Adequate conclusions regarding motor performance characteristics are derived.

Over time the mathematical models of the hybrid stepper motors (HSM) have been developed in various forms. In this paper we propose to use for HSM a model of a two-phase synchronous machine with permanent magnet in which the number of pole pairs is equal to the number of rotor teeth of the HSM. It analyzes the behavior of hybrid stepper motor controlled in open loop. Control signals are obtained by implementing the control sequences:one-phase-on, two-phases-on, half step.

Prvi del projekta zajema razložitev delovanja hibridnega koračnega motorja, njegovih lastnosti ter izpeljavo matematičnega modela. V drugem delu so predstavljene metode določanja parametrov motorja, v zadnjem delu pa sta predstavljena verifikacija modela in odzivi. First part of the project explains how hybrid stepper motor works, describes its characteristics and construction of mathematical model. The second part represent methods for determining parameters of hybrid stepper motor. The last part include verification of the mathematical model and explain its responses.

This thesis has explored if it is feasible to produce a good estimation of the rotational position of a stepper motor by using sensor fusion schemes to merge a sensorless position estimation (based on the back electromotive force) with the measurement from a magnetic rotational position sensor. The purpose was to find a cheaper alternative for position feedback in closed loop control from conventionally used rotational encoders and resolvers. Beyond the sensor fusion a suitable position control logic was also developed to verify the concept of a low cost closed loop hybrid stepper motor solution for high precision position applications. The sensor fusion and position control were simulated offline to first test the feasibility of the implementation, after which laboratory tests were performed to assess online performance. The extended Kalman filter implemented improved the performance of the magnetic rotational position sensor which was used exclusively at lower speeds (between 0-75 rpm) by decreasing its root-mean-square error by almost half from 0.0733 unfiltered to 0.0370 filtered (in mechanical degrees). When fusing both position signals at higher rotational speeds (75-400rpm) did the extended Kalman filter clearly improve position estimation accuracy compared to the single sources. It is not meaningful however to discuss the numeric improvement of the filter at these working points as this result is not conclusive but based on some fortunate conditions. This is because the two signals used for the fusion is diverging towards positive and negative error respectively for increasing rotational speeds making the fused estimate result in between. This basically means that the result from the fusion is outperforming two very bad signals, and is then not meaningful to use as a measure of how well the fusion is actually performing. Further work on the raw signals used for fusion need to be performed before a proper assessment on the fusion performance could be made.

In order to control the position of hybrid stepper motor and improve its performance, direct torque control strategy is adopted. The main idea of this paper is to present the implementation of an emotional controller for position control of hybrid stepper motor drive. The proposed controller is called Brain Emotional Learning Based Intelligent Controller (BELBIC). This controller is a computational model of emotional processing mechanism in the brain. The effectiveness of the proposed BELBIC controller-based hybrid stepper motor drive is verified by simulation results.

In any control loop of a process plant, the motorized valve, used as a final control element, may be required to be positioned according to the set point decided by the process requirement. There are various types of position control techniques of a motorized valve. The position control systems used in different applications need to meet the high performance, accuracy and reliability to achieve the desired output. Microcontrollers can be used as suitable means for meeting these needs. In the present paper, a position control scheme of a motorized valve has been described using microcontroller-based configuration for controlling stepper motor as actuator. The final calibration data reported in the paper reveal the linearity and reliability of the control system.

Hybrid stepper motors are a common type of electric motor used throughout industry thanks to its low-cost, high torque at low speed and open loop positioning capabilities. However, a closed loop control is often required for industrial applications with high precision requirements. The closed loop control can also be used to lower the power consumption of the motor and ensure that stalls are avoided. It is quite common to utilise a large and costly position encoder or resolver to feedback the position signal to the control logic. This thesis has explored the possibility of using a low-cost position sensor based on Hall elements. Additionally, a sensorless estimation algorithm, using only stator winding measurements, has been investigated both as a competitive alternative and as a possible complement to the position sensor. The thesis work summarises and discusses previous research attempts to adequately measure or estimate and control the hybrid stepper motors position and load angle without using a typical encoder or resolver. Qualitative results have been produced through simulations prior to implementation and experimental testing. The readings from the position sensor is subject to noise, owing to its resolution and construction. The position signal has been successfully filtered, improving its accuracy from 0.56° to 0.25°. The output from the sensorless estimation algorithm is subject to non-linear errors caused by errors in phase voltage measurements and processing of velocity changes. However, the dynamics are reliable at constant speeds and could be used for position control.

Electrical drives are widely used in today’s society. They can be found in bothhousehold products and in the industry. One application where electrical drivesare used is in robots for mowing lawns. In the studied robots the motors in theelectrical drives used for propulsion are Brush Less Direct Current motors, BLDCmotors.The BLDC-motor has its maximum torque at high speeds and thereforea gearbox is needed. The gearbox is space consuming, add costs and consists ofmechanical parts that wear during use. Of interest is therefore to investigate ifthere are other electrical drives which can be used for propulsion.A motor who has its maximum torque at low speeds is the Stepper motor, andtherefore it is of interest to investigate if a stepper motor could replace the BLDCmotor.A drawback with the stepper motor is that it always consumes maximumcurrent and therefore a current controller is beneficial. Together with currentcontrol, speed control is needed to make the robot run at desired speed. To beable to perform an accurate current and speed control feedback from the motor isneeded. Information about the rotor angle and velocity can be used for the speedcontrol and the load angle can be used for the current control since the current isproportional to the load torque.To estimate the rotor angle and velocity a model has been developed. Themodel is based on fundamental electrical and mechanical equations and neglectsthe current and position dependence of the inductance and flux linkage. To completethe model three motor parameters, the maximum detent torque Tdm, themaximum flux linkage m and the friction constant B was determined. Parameterdetermination was done by linear regression and by using an Extended KalmanFilter, EKF. The result of the parameter determination were Tdm = 0.2152 Nm, m = -0.002854 Vs/rad and B = 0.01186 Nms/rad.The model is used in an EKF to estimate the rotor angle and angular velocity.The result of the implemented EKF seems promising. When making the rotortake a step in velocity from 3.927 rad/s to 7.85 rad/s the EKF estimates the stateswith only a small bias: 0.02 rad for the angle, 0.3 rad/s for the velocity, 0.005 Afor phase a current and 0.0004 A for phase b current.To estimate the load angle the Sliding Discrete Fourier Transform is used. Theexpected relation between the load torque and load angle is sinusoidal. The loadangle is calculated from data where the external load is between 0-2.5 Nm. Inthat area the load angle shows the expected sinusoidal appearance and the loadangle is in the area between 0.1 and 0.45 rad. At 3 Nm the rotor stalls and it isshown that the load angle varies between 0 and 2 rad when the rotor is stalled.

Hybrid stepper motors are a common type of electric motor used throughout industry thanks to its low-cost, high torque at low speed and open loop positioning capabilities. However, a closed loop control is often required for industrial applications with high precision requirements. The closed loop control can also be used to lower the power consumption of the motor and ensure that stalls are avoided. It is quite common to utilise a large and costly position encoder or resolver to feedback the position signal to the control logic. This thesis has explored the possibility of using a low-cost position sensor based on Hall elements. Additionally, a sensorless estimation algorithm, using only stator winding measurements, has been investigated both as a competitive alternative and as a possible complement to the position sensor. The thesis work summarises and discusses previous research attempts to adequately measure or estimate and control the hybrid stepper motors position and load angle without using a typical encoder or resolver. Qualitative results have been produced through simulations prior to implementation and experimental testing. The readings from the position sensor is subject to noise, owing to its resolution and construction. The position signal has been successfully filtered, improving its accuracy from 0.56° to 0.25°. The output from the sensorless estimation algorithm is subject to non-linear errors caused by errors in phase voltage measurements and processing of velocity changes. However, the dynamics are reliable at constant speeds and could be used for position control.

This paper discusses optimal algorithms for closed-loop control of hybrid stepper motor drive and their microprocessor implementation. The torque characteristics and the optimal control angle of hybrid stepper motor drives with added series resistance and reluctant stepper motor drives have been described in detail in the literature. The specific contribution of the present paper to this field of research consists of the analysis of the torque characteristics and the optimal control angle of hybrid stepper motor drives with a chopper amplifier and current controller. Analytical expressions for the average torque and the optimal control angle of a two-phase hybrid stepper motor with chopper amplifier and current controller have been developed. An actual hybrid stepper motor drive and the microcontroller-based implementation of the suboptimal and exact optimal control algorithms have been described. The experimental results obtained by positioning a two-phase hybrid stepper motor drive with chopper amplifier, phase current controller, and incremental encoder suggested that the derived optimal control algorithm provided maximum acceleration and minimum positioning time of the hybrid stepper motor drive.

In classical methods only average torque of the stepper motors is controlled which causes high speed and torque ripple. In order to control the torque instantaneously and improve the performance of the hybrid stepper motor, direct torque control strategy is used in this paper. Then by taking model reference adaptive system scheme, which uses the hybrid stepper motor itself as the reference model, speed of the motor is estimated. The sensorless control of hybrid stepper motor based on MRAS is built and simulated with Matlab software. The results show that this control technology is simple and effective and accuracy of the estimation is considerably high.